CHAPTER 1

INTRODUCTION

1. BACKGROUND

The earliest records of wheeled furniture are an inscription found on a stone slate in China and a
childs bed depicted in a frieze on a Greek vase, both dating to the 5th century BCE. The first
records of wheeled seats being used for transporting disabled people date to three centuries later in
China; the Chinese used early wheelbarrows to move people as well as heavy objects. A distinction
between the two functions was not made for another several hundred years, around 525 CE, when
images of wheeled chairs made specifically to carry people begin to occur in Chinese art. Later
records show the use of this technology in Europe by the Renaissance.

The invalid carriage or Bath chair brought the technology into more common use from around
1760.

In 1887, wheelchairs ("rolling chairs") were introduced to Atlantic City so invalid tourists could
rent them to enjoy the Boardwalk. Soon, many healthy tourists also rented the decorated "rolling
chairs" and servants to push them as a show of decadence and treatment they could never
experience at home.

In 1933 Harry Jennings and his disabled friend Herbert Everest, both mechanical engineers,
invented the first lightweight, steel, collapsible wheelchair. Everest had previously broken his back
in a mining accident. Everest and Jennings saw the business potential of the invention and went on
to become the first mass-market manufacturers of wheelchairs.

1
1.2 OBJECTIVE

The objective of this project is to develop a wheel chair control which is useful to the physically
disabled person with his hand movement or hand gesture recognition. With the help of this
wheelchair physically disabled person would able to move himself to the desired location with the
help of hand gestures which controls the movement of wheelchair.

This project aims to provide a feasible solution to the disabled people to control the system through
hand gesture wirelessly from ranges up to several meters.

Our project proposes an integrated approach to real time detection, tracking and direction
recognition of hands, which is intended to be used as a human-robot interaction interface for the
intelligent wheelchair. This project is to demonstrate that accelerometers can be used to effectively
translate finger and hand gestures into computer interpreted signals. For gesture recognition the
accelerometer data is calibrated and filtered. The accelerometers can measure the magnitude and
direction of gravity in addition to movement induced acceleration. In order to calibrate the
accelerometers, we rotate the device sensitive axis with respect to gravity and use the resultant
signal as an absolute measurement.

1.3 MOTIVATION
P
eople with physical disabilities and partial paralysis always find it difficult to navigate through the
habitat or their home without the assistance of someone. Often after physical disability the wheel
chair is the most common locomotion for such people. But to navigate through ones own house
without help of someone every time can be demoralizing for the person as well.

With the present development on the field of robotics and embedded system, a gesture based
wheelchair is introduced to solve this matter. The wheelchair in context can be remotely controlled

2
from several meters wirelessly without actually sitting on it. The chair can be controlled by hand
gesture methods with directions as needed.

1.4 ADVANTAGES

Advantages of using hand gesture based wheelchair by physically handicapped people are:

It is easy to design and manufacture as all the components are easily available.
It is portable and hence can be placed anywhere.
It has low cost of manufacturing.
The microcontroller can be reprogrammed if any modification is required.
Due to wireless communication data rate is faster.
Wireless makes ease of operation.
No need of lengthy wires.
Power consumption is less.

CHAPTER 2
3
 LITERATURE REVIEW

1 Rakhi.A.Kalantri, D.K.Chitre Lecturer for C.R.I.T.H.O.D of Comp Dept. proposed an Automatic

wheelchair Using Gesture Recognition which basically works on the principle of acceleration, one
acceleration sensor, provides two axes, acceleration sensors whose output is analogs, varies
according to acceleration applied to it, by applying simple formula they calculated the amount of
tilt &output of tilt will decide to move in which direction.

2 Diksha goyal and Dr. S.P.S. Saini, Department Of Electronics And Communication Engineering,
NGF College of Engineering And Technology proposed a paper Accelerometer Based Hand
Gesture Controlled Wheelchair in which gesture based wheelchair which controls the wheelchair
using hand movements. The system is divided into two main units: Mems Sensor and wheelchair
control. The Mems sensor, which is connected to hand, is an 3-axis accelerometer with digital
output (I2C) that provides hand gesture detection, converts it into the 6- bit digital values and gives
it to the PIC controller. The wheelchair control unit is a wireless unit that is developed using other
controller.

3 Shreedeep Gangopadhyay, Somsumbhra Mukherjee And Soumya Chatterjee ,Department Of

Electronics And Communication, Techno India Salt Lake, Kolkata, India intents in designing
Intelligent Gesture Control Wireless Wheelchair For The Physically Handicapped working on
wireless hand gesture control and not by the usual method of keypad for the physically
handicapped people. This project also has a distress call system (GSM) to alert the concerned
people or family in times of necessity for the person, by the person himself/herself from an alert
switch or when there is any sudden detection of edge or staircase during backward motion, thus
saving the chair from accidents. The locomotion of the wheelchair is controlled by a MCU
(microcontroller). The physically handicapped people will have the option of controlling the
system through hand gesture wirelessly from ranges up to several meters and will have the
independence of using the wheelchair without the help of any other people.

4 Sudheer Kanuri, T V Janardhana Rao, Ch Sridevi and M S Madhan Mohan represented their
aim to build Voice and Gesture Based Electric-Powered Wheelchair Using ARM. A voice and
gesture based system has been developed to control a wheelchair using voice commands and
moment of hand i.e. Mems sensor is connected to hand. The system is divided into two main
components: speech recognition module with Mems sensor and wheelchair control unit. In the
4
speech recognition module, hidden Markov models are used as the main method in recognizing
voice commands. The Mems sensor senses the angle of the hand, i.e. according to the tilt of hand it
gives voltages to microcontroller. The wheelchair control unit is developed using ARM controller.

5 Dr. Gowri Shankar Rao, Dr. D. Bhattacharya, Ajit Pandey and Aparna Tiwari, discussed about
Dual Sensor Based Gesture Robot Control using Minimal Hardware System. This paper presents a
Gesture Controlled robot which can be controlled by your hand gestures not by the usual method
of keypad. Robots of the future should communicate with humans in a natural way. Hence we are
especially interested in hand motion based gesture interfaces A novel algorithm for gesture
identification is developed for identifying the various gesture signs made through hand movement..
This is implemented using mems sensor as well as using ultrasonic sensor for certain application. A
program has been written and executed for the same purpose using microcontroller system. The
observed experimentation proves that our gesture algorithm is more effective and its also improves
the natural way of communication and built in a simple hardware circuit.

6 Rahul CM, Nalini Iyer, Electronics & communication Engg. BVBCET, proposed
ACCELEROMETER AND VOICE CNTROLLED WHEEL CHAIR. This project is being
developed to assist paralyzed (quadriplegic and paraplegic) people and physically challenged
people. The prototype developed consists of user dependent voice recognition system and
accelerometer interfaced, which is being further extended for real time implementation. Intended
users control the system by wearing a glove fitted with accelerometer for controlling the movement
and direction of the wheelchair. The system is also assisted with a Voice recognition kit, with the
help of which the user can direct the wheelchair with voice commands. Ultrasonic sensors are used
for obstacle detection.

CHAPTER 3
5
 BLOCK DIAGRAM AND WORKING

HAND GESTURE RF

MODEL TRANSMITTER

MOTION RF
MICROCONTROLLER
CONTROL RECEIVER

Fig 3.1: Block Diagram of Transmitter and Receiver Section

The development of this project is done keeping in mind to enable the physically disabled people
to navigate and move around their home without the help of anyone. The present structure of the
project involves the method of controlling the wheelchair using hand gestures as commands. The
method can be applied wirelessly as we have done in this module using the RF receiver transmitter
module. The control of the locomotion of the wheelchair is presently done by microcontroller
(Arduino Open Source Prototyping Platform)

CHAPTER 4
6
CIRCUIT DIAGRAM AND DESCRIPTIONS
OF COMPONENTS USED

4.1 CIRCUIT DIAGRAM

4.1.1 CIRCUIT DIAGRAM OF TRANSMITTER SECTION

Fig 4.1
Circuit
Diagram
Of Transmitter Section
7
4.1.2 CIRCUIT DIAGRAM OF RECEIVER SECTION

Fig 4.2 Circuit Diagram Of Receiver Section

8
4.2 HARDWARE COMPONENTS

4.2.1 ACCELEROMETER SENSOR

Fig 4. 3 Accelerometer Sensor

The ADXl335 is a triple axis accelerometer with extremely low noise and power consumption-only
320A.The sensor has a full sensing range of 3g. This device is made by using polysilicon
surface sensor and signal conditioning circuit. The output of this device is analog in nature and
proportional to the acceleration. This device measures the static acceleration of gravity when we
tilt it and gives an result in form of motion and vibration.

There is no on-board regulation, provided power should be between 1.8 and 3.6V DC. This
accelerometer is used to provide required gestures for mobility of wheelchair. Its 3 axis x, y and z
moves the wheelchair in particular direction i.e. hand gesture in x direction will move the
wheelchair in forward direction similarly other axis will move the wheelchair in backward, right
and left direction.

9
4.2.1.1 Pin Diagram

Fig 4.4 Pin Diagram Of Accelerometer Sensor

4.2.1.2 Pin Description

Table 4.1 Pin Description Of Accelerometer Sensor

10
4.2.2 ATMEGA 328

The Atmega328 is a very popular microcontroller chip produced by Atmel. It is an 8-bit

microcontroller that has 32K of flash memory, 1K of EEPROM, and 2K of internal SRAM.

The Atmega328 is one of the microcontroller chips that are used with the popular Arduino
Duemilanove boards. The Arduino Duemilanove board comes with either 1 of 2 microcontroller
chips, the Atmega168 or the Atmega328. Of these 2, the Atmega328 is the upgraded, more
advanced chip. Unlike the Atmega168 which has 16K of flash program memory and 512 bytes of
internal SRAM, the Atmega328 has 32K of flash program memory and 2K of Internal SRAM.

The Atmega328 has 28 pins.

It has 14 digital I/O pins, of which 6 can be used as PWM outputs and 6 analog input pins. These
I/O pins account for 20 of the pins.

4.2.2.1 Pin Diagram

Fig. 4.5. Pin Diagram Of Atmega 328

11
4.2.2.2 Pin Description

Table 4.2 Pin Description Of Atmega 328

Pin Descriptio
Function
Number n
1 PC6 Reset
2 PD0 Digital Pin (RX)
3 PD1 Digital Pin (TX)
4 PD2 Digital Pin
5 PD3 Digital Pin (PWM)
6 PD4 Digital Pin
7 Vcc Positive Voltage (Power)
8 GND Ground
9 XTAL 1 Crystal Oscillator
10 XTAL 2 Crystal Oscillator
11 PD5 Digital Pin (PWM)
12 PD6 Digital Pin (PWM)
13 PD7 Digital Pin
14 PB0 Digital Pin
15 PB1 Digital Pin (PWM)
16 PB2 Digital Pin (PWM)
17 PB3 Digital Pin (PWM)
18 PB4 Digital Pin
19 PB5 Digital Pin
20 AVCC Positive voltage for ADC (power)
21 AREF Reference Voltage
22 GND Ground
23 PC0 Analog Input
24 PC1 Analog Input
25 PC2 Analog Input
26 PC3 Analog Input
27 PC4 Analog Input

12
 28 PC5 Analog Input

4.2.3. RF MODULE

An RF module (radio frequency) is a small electronic device used to transmit and/or receive
radio signals between two devices. In an embedded system it is often desirable to communicate
with another device wirelessly. The wireless communication may be accomplished through
optical communication or through radio frequency communication. For many applications the
medium of choice is RF since it does not require line of sight. The corresponding frequency
range is between 30 kHz to 300 GHz.

The RF module comprises of an RF transmitter and RF receiver. The Tx/Rx pair operates at a
frequency of 434 MHz

FEATURES OF RF module

Range in open space (Standard Conditions) : 100 Meters

RX Receiver Frequency: 433 MHz``
RX Typical Sensitivity: 105 Dbm
RX Supply Current: 3.5 mA
RX IF Frequency: 1MHz
Low Power Consumption
Easy for Application
RX Operating Voltage: 5V TX Frequency Range: 433.92 MHz
TX Supply Voltage: 3V ~ 6V
TX Out Put Power: 4 ~ 12 Dbm

13
4.2.3.1 PIN DIAGRAM AND PIN DESCRIPTION OF RF TRANSMITTER

Fig 4.6 Pin Diagram Of Rf Transmitter

Table 4.3 Pin Description Of Rf Transmitter

Pin Function Name

No
1 Ground (0V) Ground
2 Serial data input pin Data
3 Supply voltage; 5V Vcc
4 Antenna output pin ANT

14
4.2.3.2 PIN DIAGRAM
AND PIN

DESCRIPTION OF RF RECEIVER

Fig 4.7 Pin Diagram Of Rf Receiver

Table 4.4 Pin Description Of Rf Receiver

15
 Pin
Function Name
No
1 Ground (0V) Ground
2 Serial data output pin Data
3 Linear output pin; not connected NC
4 Supply voltage; 5V Vcc
5 Supply voltage; 5V Vcc
6 Ground (0V) Ground
7 Ground (0V) Ground
8 Antenna input pin ANT

4.2.4 DC MOTORS

Fig 4.8 Dc Motor

Motors are the most essential part of the power wheelchair as they provide motion to the system.
The operation of motor is based on simple electromagnetism. The current carrying conductor
generates magnetic field; when this is placed in an external magnetic field, it will experience a
force proportional to the current in the conductor, and to the strength of the external magnetic field.
16
In any electric motor, operation is based on simple electromagnetism. A current-carrying conductor
generates a magnetic field; when this is then placed in an external magnetic field, it will experience
a force proportional to the current in the conductor, and to the strength of the external magnetic
field. As you are well aware of from playing with magnets as a kid, opposite (North and South)
polarities attract, while like polarities (North and North, South and South) repel. The internal
configuration of a DC motor is designed to harness the magnetic interaction between a current-
carrying conductor and an external magnetic field to generate rotational motion.

Let's start by looking at a simple 2-pole DC electric motor (here red represents a magnet or
winding with a "North" polarization, while green represents a magnet or winding with a "South"
polarization)

Every DC motor has six basic parts -- axle, rotor (a.k.a., armature), stator, commutator, field
magnet(s), and brushes. In most common DC motors (and all that beamers will see), the external
magnetic field is produced by high-strength permanent magnets 1. The stator is the stationary part
of the motor -- this includes the motor casing, as well as two or more permanent magnet pole
pieces. The rotor (together with the axle and attached commutator) rotates with respect to the
stator. The rotor consists of windings (generally on a core), the windings being electrically
connected to the commutator. The above diagram shows a common motor layout -- with the rotor
inside the stator (field) magnets.

So since most small DC motors are of a three-pole design, let's tinker with the workings of one via
an interactive animation. Youll notice a few things from this -- namely, one pole is fully energized
at a time (but two others are "partially" energized). As each brush transitions from one commutator
contact to the next, one coil's field will rapidly collapse, as the next coil's field will rapidly charge
up (this occurs within a few microsecond). We'll see more about the effects of this later, but in the
meantime you can see that this is a direct result of the coil windings' series wiring:

The use of an iron core armature (as in the Mabuchi, above) is quite common, and has a number of
advantages2. First off, the iron core provides a strong, rigid support for the windings -- a
particularly important consideration for high-torque motors. The core also conducts heat away
from the rotor windings, allowing the motor to be driven harder than might otherwise be the case.
Iron core construction is also relatively inexpensive compared with other construction types.

17
In small motors, an alternative design is often used which features a 'coreless' armature winding.
Coreless DC motors have much lower armature inductance than iron-core motors of comparable
size, extending brush and commutator life. The coreless design also allows manufacturers to build
smaller motors; meanwhile, due to the lack of iron in their rotors, coreless motors are somewhat
prone to overheating. As a result, this design is generally used just in small, low-power
motors. Beamers will most often see coreless DC motors in the form of pager motors.

4.2.5 MOTOR DRIVER IC

L293D is a typical Motor driver or Motor Driver IC which is used to drive DC on either direction.
It is a 16-pin IC which can control a set of two DC motors simultaneously in any direction. It
means that you can control two DC motor with a single L293D IC. Dual H-bridge Motor Driver
integrated circuit (IC).The l293d can drive small and quiet big motors as well. L293D is a dual H-
bridge motor driver integrated circuit (IC). Motor drivers act as current amplifiers since they take a
low-current control signal and provide a higher-current signal. This higher current signal is used to
drive the motors.

L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two DC
motors can be driven simultaneously, both in forward and reverse direction. The motor operations
of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will
stop the corresponding motor. Logic 01 and 10 will rotate it in clockwise and anticlockwise
directions, respectively.
Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to start operating.
When an enable input is high, the associated driver gets enabled. As a result, the outputs become

18
active and work in phase with their inputs. Similarly, when the enable input is low, that driver is
disabled, and their outputs are off and in the high-impedance state.

4.2.5.1 Working of L293D

The 4 input pins for this l293d, pin 2,7 on the left and pin 15, 10 on the right as shown on the pin
diagram. Left input pins will regulate the rotation of motor connected on the left side and right
input for motor on the right hand side. The motors are rotated on the basis of the inputs provided at
the input pins as LOGIC 1 or LOGIC 0.

In simple you need to provide Logic 0 or 1 across the input pins for rotating the motor.

4.2.5.2 L293D Logic Table

Lets consider a Motor connected on left side output pins (pin 3,6). For rotating the motor in
clockwise direction the input pins has to be given with Logic 1 and Logic 0.

Pin 2 = Logic 1 and Pin 7 = Logic 0 | Clockwise Direction

Pin 2 = Logic 0 and Pin 7 = Logic 1 | Anticlockwise Direction

Pin 2 = Logic 0 and Pin 7 = Logic 0 | Idle [No rotation] [Hi-Impedance state]

Pin 2 = Logic 1 and Pin 7 = Logic 1 | Idle [No rotation]

In a very similar way the motor can also operate across input pin 15,10 for motor on the right hand
side.

4.2.5.3 Voltage Specifications

The voltage (Vcc) needed to for its own working is 5V but L293d will not use that Voltage to drive
DC Motors. That means you should provide that voltage (36V maximum) and a maximum current
of 600mA to drive the motors.
19
 4.2.5.4 Pin Diagram

Fig. 4.9 Pin Diagram of Motor Drive Ic

4.2.5.5 Pin Description

Table 4.5 Pin Description Of Motor Drive Ic

Pin
Function Name
No

1 Enable pin for Motor 1; active high Enable 1,2

2 Input 1 for Motor 1 Input 1

3 Output 1 for Motor 1 Output 1

4 Ground (0V) Ground

5 Ground (0V) Ground

6 Output 2 for Motor 1 Output 2

7 Input 2 for Motor 1 Input 2

8 Supply voltage for Motors; 9-12V (up to 36V) Vcc 2

9 Enable pin for Motor 2; active high Enable 3,4

10 Input 1 for Motor 1 Input 3

20
 11 Output 1 for Motor 1 Output 3

12 Ground (0V) Ground

13 Ground (0V) Ground

14 Output 2 for Motor 1 Output 4

15 Input2 for Motor 1 Input 4

16 Supply voltage; 5V (up to 36V) Vcc 1

4.2.5.6 Circuit Diagram

Fig 4.10 Circuit Diagram of Motor Drive Ic

21
4.2.6. ENCODER

This has single channel for data transfer, thus serial data communication is used.
The most popular serial encoder/decoder used is the HT12D-HT12E pair. Their description is
given below. Its okay if you dont understand what is written there. Just make sure you go through
the pin configurations and the circuit implementation.
The HT12E Encoder ICs are series of CMOS LSIs for Remote Control system applications. They
are capable of Encoding 12 bit of information which consists of N address bits and 12-N data bits.
Each address/data input is externally trinary programmable if bonded out.

22
 HT12E Pin

Fig 4.11 Encoder

Features Encoder
18 PIN DIP
Operating Voltage : 2.4V ~ 12V
Low Power and High Noise Immunity
CMOS Technology
Low Standby Current and Minimum Transmission Word
Built-in Oscillator needs only 5% Resistor
Easy Interface with and RF or an Infrared transmission medium
Minimal External Components
4.2.7 DECODER

The HT12D Decoder ICs are series of CMOS LSIs for remote control system applications. This
ICs are paired with each other. For proper operation a pair of encoder/decoder with the same
number of address and data format should be selected. The Decoder receive the serial address and
data from its corresponding encoder, transmitted by a carrier using an RF transmission medium
and gives output to the output pins after processing the data.

23
 HT12D Pin

Fig 4.12 Decoder

Features Decoder
18 PIN DIP
Operating Voltage : 2.4V ~ 12.0V
Low Power and High Noise Immunity
CMOS Technology
Low Stand by Current
Ternary address setting
Capable of Decoding 12 bits of Information
8 ~ 12 Address Pins and 0 ~ 4 Data Pins
Received Data are checked 2 times, Built in Oscillator needs only 5% resistor
VT goes high during a valid transmission
Easy Interface with an RF of IR transmission medium
Minimal External Components

4.3 SOFTWARE USED

4.3.1 ARDUINO SOFTWARE

Arduino is an open source hardware and software project, created with a simple aim in mind, to be
as simple as possible. Arduino is not some hardware you should be afraid of. Arduino comes in a
variety of flavors and sizes. It is used by artists, hackers, hobbyists, and professionals to easily
24
design, prototype and experiment with electronics. Use it as brains for your robot, to build a new
digital music instrument, or to make your house plant tweet you when it's dry. An Arduino contains
a microchip, which is a very small computer that you can program. You can attach sensors to it so
that it can measure conditions (like how much light there is in the room). It can control how other
objects react to those conditions (room gets dark. LED turns on).

The project is based on microcontroller board designs, produced by several vendors, using various
microcontrollers. Microcontrollers use inputs and outputs like any computer. Inputs capture
information from the user or the environment while outputs do something with the information that
has been captured. A switch and a sensor could be a digital and an analog input respectively into
the Arduino. Any object we want to turn on and off and control could be an output. It could be a
motor or even a computer. These systems provide sets of digital and analog input/output (I/O) pins
that can interface to various expansion boards (termed shields) and other circuits. The boards
feature serial communication interfaces, including Universal Serial Bus (USB) on some models,
for loading programs from personal computers. For programming the microcontrollers, the
Arduino project provides an integrated development environment (IDE) based on a programming
language named Processing, which also supports the languages C and C++. The Arduino language
is very similar to C. It's almost the same language but Arduino provides us with several libraries to
make things a bit easier.

The first Arduino was introduced in 2005, based on 8-bit Atmel AVR, aiming to provide a low
cost, easy way for novices and professionals to create devices that interact with their environment
using sensors and actuators. Common examples of such devices intended for beginner hobbyists
include simple robots, thermostats, and motion detectors.

Arduino comes in a variety of different boards. Arduino boards are available commercially in pre-
assembled form, or as do-it-yourself kits. The hardware design specifications are openly available,
allowing the Arduino boards to be produced by anyone. In mid-2011, it was estimated that over
300,000 official Arduinos had been commercially produced, [2] and in 2013 that 700,000 official
boards were in users' hands.

25
4.3.2 Hardware

Fig 4.13 Arduino Board

An Arduino board consists of an Atmel 8-, 16- or 32-bit AVR microcontroller (although since 2015
other makers' microcontrollers have been used) with complementary components that facilitate
programming and incorporation into other circuits. An important aspect of the Arduino is its
standard connectors, which let users connect the CPU board to a variety of interchangeable add-on
modules termed shields. Some shields communicate with the Arduino board directly over various
pins, but many shields are individually addressable via an IC serial busso many shields can be
stacked and used in parallel. Before 2015, Official Arduinos had used the Atmel megaAVR series
of chips, specifically the ATmega8, ATmega168, ATmega328, ATmega1280, and ATmega2560. In
2015, units by other producers were added. A handful of other processors have also been used by
Arduino compatible devices. Most boards include a 5 V linear regulator and a 16 MHz crystal
oscillator (or ceramic resonator in some variants), although some designs such as the LilyPad run
at 8 MHz and dispense with the onboard voltage regulator due to specific form-factor restrictions.
An Arduino's microcontroller is also pre-programmed with a boot loader that simplifies uploading
of programs to the on-chip flash memory, compared with other devices that typically need an
external chip programmer. This makes using an Arduino more straightforward by allowing the use
of an ordinary computer as the programmer. Currently, optiboot bootloader is the default
bootloader installed on Arduino UNO.[5]

At a conceptual level, when using the Arduino integrated development environment, all boards are
programmed over a serial connection. Its implementation varies with the hardware version. Some
serial Arduino boards contain a level shifter circuit to convert between RS-232logic levels
and transistortransistor logic (TTL) level signals. Current Arduino boards are programmed

26
via Universal Serial Bus (USB), implemented using USB-to-serial adapter chips such as
the FTDI FT232. Some boards, such as later-model Uno boards, substitute the FTDI chip with a
separate AVR chip containing USB-to-serial firmware, which is reprogrammable via its own ICSP
header. Other variants, such as the Arduino Mini and the unofficial Boarduino, use a detachable
USB-to-serial adapter board or cable, Bluetooth or other methods, when used with traditional
microcontroller tools instead of the Arduino IDE, standard AVR in-system programming (ISP)
programming is used.

The Arduino board exposes most of the microcontroller's I/O pins for use by other circuits.
The Diecimila,[a]Duemilanove,[b] and current Uno[c] provide 14 digital I/O pins, six of which can
produce pulse-width modulated signals, and six analog inputs, which can also be used as six digital
I/O pins. These pins are on the top of the board, via female 0.1-inch (2.54 mm) headers. Several
plug-in application shields are also commercially available. The Arduino Nano, and Arduino-
compatible Bare Bones Board[6] and Boarduino[7] boards may provide male header pins on the
underside of the board that can plug into solderless breadboards.

Many Arduino-compatible and Arduino-derived boards exist. Some are functionally equivalent to
an Arduino and can be used interchangeably. Many enhance the basic Arduino by adding output
drivers, often for use in school-level education, to simplify making buggies and small robots.
Others are electrically equivalent but change the form factor, sometimes retaining compatibility
with shields, sometimes not. Some variants use different processors, of varying compatibility.

CHAPTER 5
RESULTS

5.1 RESULTS

All the components after integration give us the working skeleton model for the wheelchair. The
27
Wheelchair model works perfectly according to the hand gestures. With the development of the
project it can be successfully implemented on a larger scale for the differentially abled people. The
low cost of the assembly makes it really a bonus for the general public. The wireless system will be
a boost to the confidence and will power of physically challenged people as it will help them to be
self reliable.

CHAPTER 6
APPLICATIONS AND FUTURE SCOPE
28
6.1 APPLICATIONS

Outdoors, on pavements and sidewalks in urban and suburban areas.

Indoors, in nursing homes, assisted living facilities or apartments with wider halls and
doorways that facilitates the wheelchair with bigger turning radius.

6.2 FUTURE SCOPE

This project aims at helping the human kind especially those who are paralyzed from the waist
down due to spinal cord injury which is also called as paraplegia. This wheelchair helps patient to
become self-sufficient also it gives better stability and comfort compared to manual wheelchair and
the power wheelchair with joystick.

The Performance of the wheelchair system can be further improved in terms of operating
speed control, increase in number of instructions by using Pulse Width Modulation
technique.
Edge detector, obstacle avoider and ultrasonic sensors can be employed to provide safe
drive on the wheelchair.
Motors with better power specification can be used to improve load carrying capacity of a
wheelchair.
As a part of further development the project can be developed with addition voice
recognition features through on board processing and power supply. There can also be the
application of intelligent home navigation for handicapped people to go through the entire
house and get help from technological interface for the navigation. The object avoiding and
careful navigation principle can be improved with algorithm based image processing
technology.

REFERENCES

29
[1] A Wearable Head- Mounted Sensor Based Apparatus for Eye Tracking Applications IEEE
International Conference on Virtual Environments, Human-Computer Interfaces, and Measurement
Systems Istanbul, Turkey, dated 14-16 July 2008.

[2] A. Murarka, M. Sridharan and B. Kuipers. 2008. Detecting obstacles and drop-offs using
stereo and motion cues for safe local motion.IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS- 08).

[3] ShilpaGulati, Benjamin Kuipers2008. High Performance Control for Graceful Motion of an
Intelligent Wheelchair. Proceedings of the IEEE International Conference on Robotics and
Automation (ICRA).

[4] Marhic, B. Robotic assistance: an automatic wheelchair tracking Intelligent Robots and
Systems, 2005. (IROS 2005). 2005 IEEE/RSJ

[5] L.JosefssonandP.Persson, Conformal Array Antenna Theory and Design

[6] R. Ghodssi, P. Lin (2011). MEMS Materials and Processes Handbook. Berlin: Springer. ISBN

[7] R. C. Simpson. Smart wheelchairs: a literature review. Journal of Rehabilitation Research and
Development , 2005.

[8] Mazidi,PIC Microcontroller And Embedded System

[9] HarpitSingh ,Making Of PIC Microcontroller Instrument And Controllers

[10] Asebrandt, Susanne iwarsson and Agnetasta, "Older Peoples Use of Powered Wheelchairs for
Activity And Participation, Taylor and Francis health Sciences.

APPENDIX

30
const int ht1 = A0;

const int ht2 = A1;

const int ht3 = A2;

const int ht4 = A3;

#define M11 4

#define M12 5

#define M21 6

void setup()

pinMode(ht1, INPUT);

pinMode(ht2, INPUT);

pinMode(ht3, INPUT);

pinMode(ht4, INPUT);

pinMode(ir, INPUT);

pinMode(M11, OUTPUT);

pinMode(M12, OUTPUT);

pinMode(M21, OUTPUT);

pinMode(M22, OUTPUT);

}
31
void loop()

if(in1==HIGH)

digitalWrite(M11, HIGH);

digitalWrite(M12, LOW);

digitalWrite(M21, HIGH);

digitalWrite(M22, LOW);

else if(in2==HIGH)

digitalWrite(M11, LOW);

digitalWrite(M12, HIGH);

digitalWrite(M21, LOW);

digitalWrite(M22, HIGH);

else if (in3==HIGH)

digitalWrite(M11, LOW);

digitalWrite(M12, HIGH);

digitalWrite(M21, LOW);

digitalWrite(M22, LOW);
32
}

else if(in4==HIGH)

digitalWrite(M11, LOW);

digitalWrite(M12, LOW);

digitalWrite(M21, LOW);

digitalWrite(M22, HIGH);

//if(ir_sensor==HIGH)

else

digitalWrite(M11, LOW);

digitalWrite(M12, LOW);

digitalWrite(M21, LOW);

digitalWrite(M22, LOW);

/* if((in1==LOW)&&(in2==HIGH)&&(in3==HIGH)&&(in4==HIGH))

digitalWrite(M11, LOW);

digitalWrite(M12, HIGH);

digitalWrite(M21, HIGH);

digitalWrite(M22, LOW);
33
}

else if((in1==HIGH)&&(in2==LOW)&&(in3==HIGH)&&(in4==HIGH))

digitalWrite(M11, LOW);

digitalWrite(M12, HIGH);

digitalWrite(M21, LOW);

digitalWrite(M22, HIGH);

else if ((in1==HIGH)&&(in2==HIGH)&&(in3==LOW)&&(in4==HIGH))

digitalWrite(M11, HIGH);

digitalWrite(M12, LOW);

digitalWrite(M21, HIGH);

digitalWrite(M22, LOW);

else if((in1==HIGH)&&(in2==HIGH)&&(in3==HIGH)&&(in4==LOW))

digitalWrite(M11, HIGH);

digitalWrite(M12, LOW);

digitalWrite(M21, LOW);

digitalWrite(M22, HIGH);

}
34
else

digitalWrite(M11, HIGH);

digitalWrite(M12, HIGH);

digitalWrite(M21, HIGH);

digitalWrite(M22, HIGH);

}*/

35